The Robotics Institute

Carnegie Mellon Robotics Institute

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Abstract

The ability to mathematically model the movement of a robot manipulator is a prerequisite to the understanding of the key factors that influence a manipulator's performance. This paper presents a manipulator model which has been used to simulate and control a real robot arm. A method of describing the arm by its rotational characteristics, a set of equations called the Inverse Arm, and an algorithm called Forward Arm are presented. The Forward Arm simulates the movement of an arm, and the Inverse Arm provides a means of computing thc correct voltages to apply to an arm to achieve a desired movement.

Notes

Grant ID: #F33615-86-C-5-38

Text Reference

Neil M. Swartz, "Arm Dynamics Simulation," tech. report CMU-RI-TR-82-17, Robotics Institute, Carnegie Mellon University, November, 1982

BibTeX Reference

@techreport{Swartz_1982_46,
   author = "Neil M Swartz",
   title = "Arm Dynamics Simulation",
   booktitle = "",
   institution = "Robotics Institute",
   month = "November",
   year = "1982",
   number= "CMU-RI-TR-82-17",
   address= "Pittsburgh, PA",
}

The Robotics Institute

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